KR20230054067A - Gnss-based vehicle driving test device using slope correction - Google Patents

Abstract

The present invention relates to a GNSS-based vehicle driving test device using slope correction which comprises: a vehicle shape modeling unit modeling a vehicle shape based on a vehicle top view image based on the position of a pair of GNSS antennas installed on a vehicle; a driving lane slope determination unit receiving the position of the pair of GNSS antennas during a vehicle driving test process, determining a height difference between the pair of GNSS antennas, and determining a slope of a driving lane based on the height difference; and a vehicle driving map mapping unit adjusting the shape of the vehicle based on the slope of the driving lane and mapping the same to a vehicle driving map having a plane coordinate system. The GNSS-based vehicle driving test device using slope correction according to one embodiment of the present invention uses a real-time high-precision GNSS to identify a vehicle position with high accuracy and can effectively evaluate a vehicle driving test by correcting an error caused by elevation differences in the slopes.

Description

GNSS-based vehicle driving test device using slope correction {GNSS-BASED VEHICLE DRIVING TEST DEVICE USING SLOPE CORRECTION}

The present invention relates to a vehicle driving test technology, and more particularly, to a GNSS-based vehicle driving test that can effectively evaluate a vehicle driving test by grasping the vehicle position with high accuracy using real-time high-precision GNSS and correcting an error caused by an elevation difference of a ramp. It relates to a vehicle driving test device.

The driver's license scoring system is a system that allows students to take the test through fully automated scoring without human intervention when taking the test to obtain a driver's license. Even things that are difficult to determine can be accurately determined through various sensors.

Until now, the driver's license scoring system had a problem in that the sensor had to be buried in the test site, which made installation complicated and took a lot of time, and there was a problem in that it was difficult to accurately grasp the movement of the test vehicle due to environmental influences.

In the driver's license scoring system, if the movement of the vehicle, especially the direction and location of the vehicle, is not accurately identified, a problem may occur in which a normal driver does not pass due to incorrect scoring, which is very fatal to the operation of the driver's license scoring system. Therefore, it is necessary to develop technology to improve this.

Korean Patent Publication No. 10-2014-0050161 (2014.04.29)

An embodiment of the present invention is a GNSS-based vehicle driving test using slope correction that can effectively evaluate a vehicle driving test by determining the vehicle position with high accuracy using real-time high-precision GNSS and correcting an error caused by a height difference of a ramp. We want to provide you with a device.

Among embodiments, a GNSS-based vehicle driving test apparatus includes a vehicle shape modeling unit that models a vehicle shape based on a vehicle top-view image based on positions of a pair of GNSS antennas installed in the vehicle; a driving lane slope determining unit which receives positions of the pair of GNSS antennas in a vehicle driving test process, determines a height difference between the pair of GNSS antennas, and determines a slope of the driving lane based on the height difference; and a vehicle driving map mapping unit configured to adjust the shape of the vehicle based on the gradient of the driving lane and map the vehicle driving map to a vehicle driving map having a planar coordinate system.

The vehicle shape modeling unit determines the position of the pair of GNSS antennas in the vehicle top-view image as a reference point of the vehicle coordinate system, and determines the coordinate value of at least one vehicle shape inflection point in the contour of the vehicle top-view image on the vehicle coordinate system. The vehicle shape can be modeled in advance.

The driving lane slope determination unit may remove the height difference by projecting the positions of the pair of GNSS antennas on the same plane when the slope is greater than or equal to a reference value for a vehicle driving test.

The driving lane gradient determining unit may determine an intermediate height of the height difference and project the positions of the pair of GNSS antennas on a virtual plane defined at the intermediate height.

The vehicle driving map mapping unit may adjust the shape of the vehicle by reducing the vehicle top-view image by applying the inclination to a distance between the front and rear surfaces of the vehicle on the vehicle top-view image.

The vehicle driving map mapping unit may display a virtual GNSS antenna on the adjusted vehicle shape regardless of actual positions of the pair of GNSS antennas.

The apparatus may further include a vehicle driving test unit that detects whether the adjusted vehicle shape deviates from the driving lane of the vehicle driving map according to the movement of the pair of GNSS antennas during the vehicle driving test process.

The vehicle driving test unit may determine whether or not to deviate from the driving lane by calculating a vehicle outline through the adjusted vehicle shape and determining whether an intersection between the vehicle outline and the driving lane exists.

The disclosed technology may have the following effects. However, it does not mean that a specific embodiment must include all of the following effects or only the following effects, so it should not be understood that the scope of rights of the disclosed technology is limited thereby.

GNSS-based vehicle driving test apparatus using slope correction according to an embodiment of the present invention uses real-time high-precision GNSS to determine the vehicle position with high accuracy and corrects the error caused by the height difference of the slope to effectively perform the vehicle driving test can be evaluated

1 is a diagram illustrating a vehicle driving test system according to the present invention.
FIG. 2 is a diagram explaining the functional configuration of the vehicle driving test apparatus of FIG. 1 .
3 is a flowchart illustrating a GNSS-based vehicle driving test process using slope correction according to the present invention.
4 is a flowchart illustrating a process of modeling a vehicle shape according to the present invention.
5 is a diagram illustrating a GNSS-based vehicle driving test system.
6 is a diagram explaining the configuration of a GNSS-based vehicle driving test system.
7 is a diagram for explaining an embodiment of a process of modeling a vehicle shape.
8A to 8D are diagrams illustrating an embodiment of a process of tracking a motion of a vehicle shape modeled on a vehicle driving map.
9A to 9C are diagrams illustrating a process of adjusting the position and size of a vehicle direction shape modeled through slope correction.

Since the description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, since the embodiment can be changed in various ways and can have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, the scope of the present invention should not be construed as being limited thereto.

Meanwhile, the meaning of terms described in this application should be understood as follows.

Terms such as "first" and "second" are used to distinguish one component from another, and the scope of rights should not be limited by these terms. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element.

It should be understood that when an element is referred to as being “connected” to another element, it may be directly connected to the other element, but other elements may exist in the middle. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that no intervening elements exist. Meanwhile, other expressions describing the relationship between components, such as “between” and “immediately between” or “adjacent to” and “directly adjacent to” should be interpreted similarly.

Expressions in the singular number should be understood to include plural expressions unless the context clearly dictates otherwise, and terms such as “comprise” or “having” refer to an embodied feature, number, step, operation, component, part, or these. It should be understood that it is intended to indicate that a combination exists, and does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

In each step, the identification code (eg, a, b, c, etc.) is used for convenience of explanation, and the identification code does not describe the order of each step, and each step clearly follows a specific order in context. Unless otherwise specified, it may occur in a different order than specified. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless defined otherwise. Terms defined in commonly used dictionaries should be interpreted as consistent with meanings in the context of the related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present application.

1 is a diagram illustrating a vehicle driving test system according to the present invention.

Referring to FIG. 1 , a vehicle driving test system 100 may include a vehicle 110 , a vehicle driving test apparatus 130 and a database 150 .

The vehicle 110 may correspond to a means of transportation that transports passengers or cargo using power generated by an engine. Here, the case where the vehicle 110 is a car is described as an example, but it can be applied to various means of transportation that can move using power, such as two-wheeled vehicles, ships, and airplanes, as a matter of course.

In one embodiment, vehicle 110 may be implemented with a plurality of sensors capable of measuring relevant data to monitor the condition of various components. For example, the vehicle 110 may include an accelerator pedal sensor, a brake pedal sensor, a vibration sensor, an acceleration sensor, an inclination angle sensor, a Global Positioning System (GPS) sensor, a steering angle sensor, and the like.

In addition, the vehicle 110 may include sensors (eg, a camera sensor, a temperature sensor, etc.) for monitoring a driver's condition for a vehicle driving test, and information about the external environment of the vehicle 110 (eg, a camera sensor, a temperature sensor, etc.) For example, sensors for collecting traffic information, signal information, pedestrian information, etc.) may be included.

In addition, the vehicle 110 may be implemented by including a sensor interface module (SIM) that provides a sensor interface for communication with a plurality of sensors, and the vehicle driving test device ( 130) can be provided.

The vehicle driving test apparatus 130 models the vehicle shape based on the vehicle top-view image, tracks the vehicle's posture in relation to the position and direction on a pre-built vehicle driving map, and corrects the vehicle shape according to the inclination of the test site to accurately It may be implemented as a server corresponding to a computer or program capable of performing a vehicle driving test. The vehicle driving test device 130 may be wirelessly connected to the vehicle 110 through Bluetooth, WiFi, or the like, and may exchange data with the vehicle 110 through a network.

Meanwhile, unlike FIG. 1 , the vehicle driving test apparatus 130 may be included and implemented inside the vehicle 110 . In this case, the vehicle driving test apparatus 130 may be connected to a sensor interface module that provides a sensor interface through USB or RS-232C communication, and receives sensing information from a plurality of sensors installed inside the vehicle through the sensor interface module. It can be collected periodically or in real time.

In addition, the vehicle driving test apparatus 130 may be implemented by including the database 150 or may be implemented independently of the database 150 . When implemented independently of the database 150, the vehicle driving test apparatus 130 may be connected to the database 150 by wire or wireless to exchange data.

The database 150 is a storage device capable of storing information necessary for more accurately tracking the movement of a vehicle on a vehicle driving map by modeling a vehicle shape and correcting the vehicle shape according to an inclination. For example, the database 150 may receive and store vehicle information about the vehicle 110 and may store a plurality of sensing information received from the vehicle 110, but is not necessarily limited thereto, and may vary depending on the gradient of the test site. Information collected or processed in various forms in the process of performing a vehicle driving test by adjusting the modeled vehicle shape according to the present invention may be stored.

FIG. 2 is a diagram explaining the functional configuration of the vehicle driving test apparatus of FIG. 1 .

Referring to FIG. 2 , it may include a vehicle shape modeling unit 210, a driving lane gradient determination unit 230, a vehicle driving map mapping unit 250, a vehicle driving test unit 270, and a control unit 290.

The vehicle shape modeling unit 210 may model a vehicle shape based on a top view image of the vehicle based on positions of a pair of GNSS antennas installed in the vehicle 110 . The vehicle shape modeling unit 210 may receive a vehicle top-view image collected from the vehicle 110 in conjunction with the vehicle 110 and model a vehicle shape based on the received vehicle top-view image. In this case, the vehicle top view image may be included in vehicle information about the vehicle 110 and transmitted from the vehicle 110 . That is, the vehicle information may include a camera image of the vehicle 110, driving information, sensor information, and driver information. The camera image may include a front image, a rear image, a side image, and an around view image, and the driving information may include a location, direction, and inclination of the vehicle. In addition, sensor information may include vehicle speed, steering angle, acceleration/deceleration, brake pedal angle, etc., and driver information may include information about the driver's condition, such as a gaze direction and body temperature information.

In particular, vehicle information may include a vehicle top view image. The vehicle top view image may correspond to a video or image of a 360-degree view around the vehicle 110, as if looking down at the vehicle 110 from the sky, and the vehicle 110 linked with the vehicle shape modeling unit 210 has a top view. A device capable of taking an image may be included. The vehicle shape modeling unit 210 may receive and store various types of vehicle information in the database 150, and may classify or select and store the information by type, time point, or vehicle as necessary.

In one embodiment, the vehicle shape modeling unit 210 determines the position of the pair of GNSS antennas in the vehicle top-view image as a reference point of the vehicle coordinate system, and coordinates of at least one vehicle shape inflection point in the contour of the vehicle top-view image on the vehicle coordinate system By determining the value, the vehicle shape can be modeled in advance. Here, the vehicle coordinate system may correspond to a coordinate system for expressing positions or arrangement relationships of major components of the vehicle 110 as relative positions, and may be defined based on a specific configuration of the vehicle 110 . The vehicle shape modeling unit 210 may determine a GNSS antenna close to the rear of the vehicle among a pair of GNSS antennas installed in the vehicle 110 as a reference antenna, and may determine the location of the GNSS antenna as a reference point of the vehicle coordinate system. .

More specifically, the vehicle shape modeling unit 210 may model a vehicle shape corresponding to the corresponding vehicle 110 by using the vehicle top-view image and vehicle specification information of the vehicle information received from the vehicle 110 . The vehicle shape modeled by the vehicle shape modeling unit 210 may be visualized and displayed on a vehicle driving map in a subsequent operation step, and the movement of the vehicle shape on the vehicle driving map is reproduced through a display screen, providing an intuitive experience to the user. can provide information. Meanwhile, a detailed process of modeling a vehicle shape will be described in detail with reference to FIGS. 4 and 7 .

The driving lane slope determining unit 230 may receive positions of a pair of GNSS antennas in a vehicle driving test process, determine a height difference between the pair of GNSS antennas, and determine a slope of the driving lane based on the height difference. The driving lane slope determining unit 230 may obtain the location of a pair of GNSS antennas from vehicle information periodically or in real time received from the vehicle 110 driving in the test site. A pair of GNSS antennas may be preferably arranged parallel to the driving direction of the vehicle 110 . In addition, the positions of the pair of GNSS antennas may be obtained as latitude and longitude coordinate values, and the driving lane gradient determining unit 230 calculates the height difference between the latitude and longitude coordinate values to calculate the height difference between the latitude and longitude coordinate values of the driving lane in which the vehicle 110 is driving. slope can be determined.

In one embodiment, the driving lane slope determination unit 230 may remove the height difference by projecting the positions of a pair of GNSS antennas on the same plane when the slope is greater than or equal to a reference value for a vehicle driving test. The driving lane slope determination unit 230 calculates the slope of the driving lane through the height difference based on the latitude and longitude coordinate values, and determines that the latitude and longitude coordinate value is an error when it corresponds to a slope that is difficult to occur in the actual test site Correction may be performed to remove the elevation difference from the corresponding latitude and longitude coordinate values. The driving lane gradient determination unit 230 may additionally perform an operation of projecting the latitude and longitude coordinate values onto the same plane in order to eliminate the height difference.

In one embodiment, the driving lane slope determining unit 230 may determine an intermediate height of the height difference and project the positions of the pair of GNSS antennas on a virtual plane defined at the intermediate height. Since a pair of GNSS antennas are basically placed above the vehicle, correction of latitude and longitude coordinate values can be performed through a process of projecting onto a virtual plane formed at a lower height relative to the ground. The driving lane slope determining unit 230 may project the position of the GNSS antenna toward a virtual plane defined in a direction parallel to the ground at an intermediate height of the height difference in order to minimize an error due to projection. An intermediate height of the height difference may correspond to an intermediate height between the first elevation (height) and the second elevation. As a result, the modeled vehicle shape may be arranged on the vehicle driving map based on the position of the GNSS antenna corrected by projection.

The vehicle driving map mapping unit 250 may adjust the vehicle shape based on the gradient of the driving lane and map the vehicle driving map to a vehicle driving map having a planar coordinate system. Here, the vehicle driving map may be prepared in advance based on the latitude and longitude coordinate values of a plurality of driving lanes when a tracker is moved along the driving lane and the latitude and longitude coordinate values of the plurality of driving lanes are collected. A tracker may be implemented and operated in various ways, and may be implemented to move along a driving lane. That is, the tracker may measure and store latitude and longitude coordinates at a specific period or at specific points while moving along the driving lane.

Also, each point of the vehicle driving map may include a plane coordinate value defined in a plane coordinate system. At this time, the plane coordinate system may be defined as a two-dimensional coordinate system, and may form a corresponding relationship with a GPS coordinate system, which is a three-dimensional coordinate system. That is, satellite coordinate values may correspond to plane coordinate values on a plane coordinate system, and a conversion relationship between them may be expressed by a predetermined equation. In particular, a plane coordinate system may be defined in correspondence with a vehicle driving map corresponding to an actual test site. Accordingly, the location on the vehicle driving map may be determined according to the plane coordinate values on the plane coordinate system.

When the modeled vehicle shape is mapped to the vehicle driving map, the movement of the vehicle shape corresponding to the actual movement of the vehicle 110 in the test site may be implemented on the vehicle driving map. In particular, when the vehicle 110 is located on a ramp (ie, uphill or downhill) existing in the test site, the vehicle driving map mapping unit 250 detects between GNSS antennas disposed parallel to the driving direction of the vehicle 110. In consideration of the fact that there is a difference in elevation, the size and position of the modeled vehicle shape may be adjusted according to the inclination. Through this, the movement of the vehicle shape on the vehicle driving map can be more accurately tracked.

In an embodiment, the vehicle driving map mapping unit 250 may adjust the shape of the vehicle by reducing the vehicle top view image by applying an inclination to the distance between the front and rear surfaces of the vehicle 110 on the vehicle top view image. The vehicle shape may be generated in advance based on the vehicle top-view image, and the vehicle driving map mapping unit 250 may adjust the size of the vehicle top-view image to adjust the vehicle shape. That is, the vehicle driving map mapping unit 250 measures the length of the vehicle 110, that is, the distance from the front to the rear, on the vehicle top-view image, and applies the gradient of the driving lane where the vehicle 110 is located to generate the vehicle top-view image. can be scaled down For example, when the vehicle 110 is located on a driving lane with a length of 2.5 m and an inclination of 30 degrees, the vehicle driving map mapping unit 250 sets the length of the vehicle to 2.5 m × cos30 = 2.17 m. You can zoom out the top view image. Thereafter, the vehicle driving map mapping unit 250 may model a vehicle shape based on the reduced top view image of the vehicle and map it on the vehicle driving map.

In one embodiment, the vehicle driving map mapping unit 250 may display a virtual GNSS antenna on the adjusted vehicle shape regardless of the actual position of the pair of GNSS antennas. The vehicle driving map mapping unit 250 visually displays a virtual GNSS antenna on the vehicle shape displayed on the vehicle driving map when the vehicle shape is adjusted according to the slope and the vehicle shape is smaller than the size on the flat driving lane. can Accordingly, when the movement of the vehicle shape is displayed on the vehicle driving map, the user can indirectly recognize that the corresponding vehicle 110 is driving the ramp in the test site through whether or not the GNSS antenna is displayed on the vehicle shape.

The vehicle driving test unit 270 may detect whether the vehicle shape adjusted according to the movement of the pair of GNSS antennas deviate from the driving lane of the vehicle driving map during the vehicle driving test process. When the vehicle driving test starts, the vehicle driving test unit 270 may control the vehicle 110 based on the modeled vehicle shape mapped to the vehicle driving map. In particular, the vehicle driving test unit 270 may score the vehicle driving test based on the movement of the vehicle shape modeled on the vehicle driving map.

More specifically, the vehicle driving test unit 270 may analyze antenna signal information based on the arrangement relationship of a plurality of GNSS antennas fixedly installed in the vehicle 110, and through this, the position, direction and inclination of the vehicle 110 By acquiring the information, it is possible to effectively track the movement of the modeled vehicle shape on the vehicle driving map. In addition, the vehicle driving test unit 270 may detect whether the boundary of the vehicle 110 overlaps with the driving lane defined on the vehicle driving map, and the vehicle driving test process, such as vehicle deviation, section deviation, stop line deviation, etc. You can evaluate deduction factors in .

In an embodiment, the vehicle driving test unit 270 may calculate the vehicle outline through the adjusted vehicle shape and determine whether or not to cross the driving lane by determining whether there is an intersection between the vehicle outline and the driving lane. The vehicle driving test unit 270 may determine the vehicle outline by connecting vehicle shape inflection points based on the vehicle shape adjusted according to the inclination. The vehicle driving test unit 270 may determine entry into or departure from the corresponding driving lane based on the direction of the vehicle 110 when an intersection occurs due to overlap between the vehicle outline and the driving lane of the vehicle driving map. Thereafter, the vehicle driving test unit 270 may evaluate the driver's driving ability by assigning a driving score according to the position of the corresponding intersection on the vehicle driving map, the direction and speed of the vehicle 110, and traffic signal conditions.

The control unit 290 controls the overall operation of the vehicle driving test apparatus 130, and controls flow or data between the driving lane slope determination unit 230, the vehicle driving map mapping unit 250, and the vehicle driving test unit 270. You can manage the flow.

3 is a flowchart illustrating a GNSS-based vehicle driving test process using slope correction according to the present invention.

Referring to FIG. 3 , the vehicle driving test apparatus 130 models a vehicle shape based on a vehicle top view image based on the position of a pair of GNSS antennas installed in the vehicle 110 through the vehicle shape modeling unit 210. can

In addition, the vehicle driving test device 130 receives the positions of a pair of GNSS antennas in the vehicle driving test process through the driving lane slope determination unit 230, determines the height difference between the pair of GNSS antennas, and determines the height difference based on the height difference. The slope of the driving lane can be determined.

In addition, the vehicle driving test device 130 may adjust the vehicle shape based on the gradient of the driving lane through the vehicle driving map mapping unit 250 and map the vehicle driving map to a vehicle driving map having a planar coordinate system. Therefore, the vehicle driving test apparatus 130 can effectively evaluate a vehicle driving test by correcting an error caused by a height difference of a ramp.

4 is a flowchart illustrating a process of modeling a vehicle shape according to the present invention, and FIG. 7 is a diagram illustrating an embodiment of a process of modeling a vehicle shape.

4 and 7, the vehicle driving test apparatus 130 calculates the position of the GNSS antenna 720 installed in the vehicle 110 in the vehicle top-view image 710 through the vehicle shape modeling unit 210 in the vehicle coordinate system. The vehicle shape 740 may be modeled in advance by determining a reference point and determining a coordinate value of at least one vehicle shape inflection point 730 in the contour of the vehicle top view image 710 on the vehicle coordinate system.

More specifically, the vehicle driving test apparatus 130 may analyze the vehicle top-view image 710 to extract vehicle outer points (S410). That is, the outer points of the vehicle may be detected on the boundary line between the vehicle 110 and the surrounding background on the vehicle top-view image 710 . The vehicle driving test apparatus 130 may calculate the length or width of the vehicle 110 based on the outer points of the vehicle, and may adjust the positions of the outer points of the vehicle based on the vehicle specification information of the input vehicle information ( S430). For example, when the length of the vehicle 110 determined based on the vehicle outer points is greater than the length in the vehicle specification information, the distance between the vehicle outer points may be reduced by a predetermined ratio according to the vehicle specification information.

In addition, the vehicle driving test apparatus 130 may select vehicle shape inflection points 730 from the vehicle outer points based on the vehicle specification information (S450). The vehicle driving test apparatus 130 may analyze the vehicle top-view image 710 and select vehicle shape inflection points 730 among the vehicle outer points. As a result, the vehicle driving test apparatus 130 may determine vehicle shape inflection points 730 by utilizing both the vehicle specification information and the vehicle top-view image 710 .

In addition, the vehicle driving test apparatus 130 may store coordinate information about vehicle shape inflection points 730 and model the vehicle shape 740 based on this (S470). In particular, the coordinates of the vehicle shape inflection points may correspond to coordinate information on a vehicle coordinate system defined by the location of the GNSS antenna 720 installed in the vehicle 110 as a reference point. That is, the position of the reference GNSS antenna 720 may be defined as the origin (0, 0) in the vehicle coordinate system, and the coordinates of the vehicle shape inflection points 730 may be expressed as relative coordinates based on the origin. The vehicle driving test apparatus 130 can easily model the vehicle shape 740 even when only the position of the GNSS antenna 720 is received from the vehicle 110 by using relative coordinates for the vehicle shape inflection points 730 .

5 is a diagram illustrating a GNSS-based vehicle driving test system.

Referring to FIG. 5, the GNSS-based vehicle driving test system 100 uses a real-time high-precision GNSS (Global Navigation Satellite System) to automatically score accurate driving tests only by installing the vehicle system without installing sensors in the vehicle driving test site. can be performed. In particular, the vehicle driving test system 100 can increase the accuracy of vehicle location identification by simultaneously receiving two or more satellite signals and positioning through a base station. At this time, available satellites may include GPS, GLONAS, BEIDOU, GALILEO, and the like.

In FIG. 5, BASE and ROVER may simultaneously receive two or more satellite signals through respective GNSS antennas. In the case of BASE, a position correction signal for position correction can be calculated using the ground position of the reference point and the received satellite signal, and a position correction signal (Position Correction) related to position correction can be transmitted to the ROVER in real time or periodically. . The rover can accurately calculate its current location based on satellite signals and position correction signals from BASE.

6 is a diagram explaining the configuration of a GNSS-based vehicle driving test system.

Referring to FIG. 6 , the GNSS-based vehicle driving test system 100 may include a control room, a waiting room, and a vehicle system.

The control room can manage the entire vehicle driving test and communicate with the waiting room and the vehicle system to perform overall control of the vehicle driving test. In one embodiment, the control room may be implemented by including a reference station (RTK Base), and in this case, the control room may communicate with the vehicle system through a wireless communication module, for example, a Wi-Fi module.

The waiting room may correspond to a space where drivers can wait for a vehicle driving test, and may provide functions such as test reception and test progress status provision. In particular, the control room and the waiting room can be connected through an L2 switch, and data can be exchanged through Ethernet.

The vehicle system may be installed in the vehicle 110 to determine a position of the vehicle 110 and calculate scoring points in a vehicle driving test process. In particular, a plurality of sensors may be installed inside the vehicle 110 for scoring, and the vehicle system may collect sensor information through a sensor interface module (SIM) providing a center interface. In addition, the vehicle system can receive two or more satellite signals at the same time through the RTK Rover module and can be connected to the control room through the wireless communication module.

8A to 8D are diagrams illustrating an embodiment of a process of tracking a motion of a vehicle shape modeled on a vehicle driving map.

Referring to FIGS. 8A to 8D , the vehicle driving test apparatus 130 may generate a vehicle driving map 810 in advance, and the vehicle driving map 810 may be stored and managed in the database 150 . The vehicle driving map 810 may be generated by including various driving lanes 820 that exist in the test site, and for example, a detection line, a confirmation line, a stop line, and an outline may correspond thereto. The vehicle driving map may be generated as a result of converting latitude and longitude coordinate values into a planar coordinate system, and for this purpose, reference points may exist for each driving lane 820 at the vehicle driving test site. That is, the vehicle driving map may be generated by converting a reference point set for each driving lane 820 into a planar coordinate system and then sequentially converting latitude and longitude coordinate values connected to the reference point.

In addition, the vehicle driving test apparatus 130 may determine the modeled vehicle shape 840 based on the location of the GNSS antenna during the vehicle driving test. More specifically, the vehicle driving test apparatus 130 may determine the direction of the vehicle 110 based on the positions 830 of the pair of GNSS antennas. For example, in FIG. 8C, the vehicle driving test apparatus 130 proceeds from a position 830a of a GNSS antenna corresponding to a reference point among positions 830 of a pair of GNSS antennas to a position 830b of another GNSS antenna. The direction may be determined as the driving direction of the vehicle 110 . Meanwhile, the direction of the vehicle 110 may be expressed as a direction vector.

In addition, the vehicle driving test apparatus 130 may map and arrange the modeled vehicle shape 840 on the vehicle driving map 810 . That is, the vehicle driving test device 130 may arrange the position of the modeled vehicle shape 840 by matching it to the position 830a of the GNSS antenna corresponding to the reference point, and determine the direction of the modeled vehicle shape 840. It can be rotated according to the driving direction of the vehicle 110 .

Thereafter, the vehicle driving test apparatus 130 may track the movement of the modeled vehicle shape 840 on the vehicle driving map, and evaluate the driving performance according to the movement of the modeled vehicle shape 840 during the vehicle driving test. Thus, the driving score can be automatically calculated.

9A to 9C are diagrams illustrating a process of adjusting the position and size of a vehicle direction shape modeled through slope correction.

Referring to FIGS. 9A to 9C , the vehicle driving test apparatus 130 may track the vehicle 110 in a test site and map the modeled vehicle shape to a vehicle driving map having a planar coordinate system. At this time, when the vehicle 110 is located on an uphill or downhill road with a gradient in the test site, a predetermined height difference ( h ) may exist between the latitude and longitude coordinate values of the GNSS antenna measured by the vehicle 110. The vehicle driving test apparatus 130 may perform an operation of adjusting the modeled vehicle shape in order to reduce an error caused by a height difference.

If the height difference (h) is not considered, if the vehicle 110 is projected on a plane coordinate system as it is based on the latitude and longitude coordinates of the GNSS antenna, the front and rear positions of the actual vehicle 110 in the test site and the vehicle on the vehicle driving map A predetermined error may occur between the positions of the shapes (a and b in FIG. 9a).

When only the position is considered through the height difference (h), if the latitude and longitude coordinates of the GNSS antenna are corrected and the vehicle 110 is projected onto a plane coordinate system, the position of the rear of the actual vehicle 110 in the test site and the vehicle shape on the vehicle driving map The rear positions of may coincide with each other. However, in this case, the size of the modeled vehicle shape may be maintained as it is, and accordingly, the front side of the vehicle shape on the vehicle driving map may appear larger than the actual front side of the vehicle 110 located on the ramp (FIG. 9B). c).

When both the position and size are considered through the height difference (h), the latitude and longitude coordinates of the GNSS antenna are corrected to adjust the position of the vehicle shape on the vehicle driving map, and at the same time, the size of the vehicle shape can be adjusted according to the inclination. That is, the vehicle driving test apparatus 130 may model an adjusted vehicle shape that matches the actual size (ie, the distance between the front and rear surfaces) of the vehicle 110 located on the ramp and project it onto a plane coordinate system. As a result, the location on the vehicle driving map and the actual location in the test site can be mutually matched. Through this, the vehicle driving test apparatus 130 more accurately estimates the movement of the vehicle shape on the vehicle driving map while tracking the movement of the vehicle 110 in the test site in real time, thereby performing a vehicle driving test based on the vehicle driving map. can provide high confidence in the results of

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the claims below. You will understand that it can be done.

100: vehicle driving test system
110: vehicle 130: vehicle driving test device
150: database
210: vehicle shape modeling unit 230: driving lane slope determination unit
250: vehicle driving map mapping unit 270: vehicle driving test unit
290: control unit

Claims (8)

a vehicle shape modeling unit that models a vehicle shape based on a vehicle top-view image based on positions of a pair of GNSS antennas installed in the vehicle;
a driving lane slope determining unit which receives positions of the pair of GNSS antennas in a vehicle driving test process, determines a height difference between the pair of GNSS antennas, and determines a slope of the driving lane based on the height difference; and
A GNSS-based vehicle driving test apparatus including a vehicle driving map mapping unit that adjusts the vehicle shape based on the gradient of the driving lane and maps it to a vehicle driving map having a planar coordinate system.
The method of claim 1, wherein the vehicle shape modeling unit
The position of the pair of GNSS antennas in the vehicle top-view image is determined as a reference point of the vehicle coordinate system, and the coordinate value of at least one vehicle shape inflection point in the contour of the vehicle top-view image is determined on the vehicle coordinate system to determine the vehicle shape in advance GNSS-based vehicle driving test apparatus, characterized in that for modeling.
The method of claim 1, wherein the driving lane gradient determining unit
GNSS-based vehicle driving test apparatus, characterized in that, when the inclination is greater than or equal to a reference value for a vehicle driving test, the height difference is eliminated by projecting the positions of the pair of GNSS antennas onto the same plane.
The method of claim 3, wherein the driving lane gradient determining unit
GNSS-based vehicle driving test apparatus, characterized in that for determining an intermediate height of the height difference and projecting the position of the pair of GNSS antennas on a virtual plane defined by the intermediate height.
The method of claim 1, wherein the vehicle driving map mapping unit
GNSS-based vehicle driving test apparatus, characterized in that the vehicle shape is adjusted by reducing the vehicle top-view image by applying the inclination to the distance between the front and rear of the vehicle on the vehicle top-view image.
The method of claim 5, wherein the vehicle driving map mapping unit
GNSS-based vehicle driving test apparatus, characterized in that a virtual GNSS antenna is displayed on the adjusted vehicle shape regardless of the actual position of the pair of GNSS antennas.
According to claim 1,
In the vehicle driving test process, according to the movement of the pair of GNSS antennas, a vehicle driving test unit that detects whether or not the adjusted vehicle shape deviate from the driving lane of the vehicle driving map GNSS-based Vehicle driving test device.
The method of claim 7, wherein the vehicle driving test unit
GNSS-based vehicle driving test apparatus, characterized in that determining whether the driving lane is deviated by calculating the vehicle outline through the adjusted vehicle shape and determining whether there is an intersection between the vehicle outline and the driving lane.

Images